Manipulating a part's AssemblyAngularVelocity to match another part's orientation

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1
  1. What do you want to achieve? Keep it simple and clear!
    I want a part to move and turn (using velocity) to match another part’s position and orientation.
  2. What is the issue? Include screenshots / videos if possible!
    The problem is, that I can’t figure out how to do that.
    The part with the movement is easy. I just did:
(part1.Position - part2.Position)

But my question is, how do you do that same thing I showed above, but with an orientation?
3. What solutions have you tried so far? Did you look for solutions on the Developer Hub?
I didn’t manage to find any solutions, using both Google and the Developer Hub.